Decentralized cooperative control technique for non-holonomic mobile formation

This paper presents the design of a fuzzy logic cooperative control by implementing the leader-follower approach that allows establishing and maintaining a specifi c geometric formation to a mobile robot group while they are moving along a predefi ned trajectory. As a result of the research, it was proved by simulation, a cooperative control system that permits a set of robots to keep a specifi c formation while the group performs a predetermined mission. This control system helps avoid obstacles by modifying the formation or by changing the leader inside the group. RESUMEN:Este artículo presenta el diseño de un controlador de lógica difusa implementando el método líder-seguidor para un sistema de robótica cooperativa móvil, que permita a un grupo de robots establecer y mantener una formación geométrica especifi ca mientras se desplazan siguiendo una trayectoria de referencia. Como resultado de la investigación, se probó mediante simulación un sistema de control cooperativo, que permite a un grupo de robots mantener una formación específi ca mientras desarrollan una misión determinada. Este controlador permite evadir obstáculos cambiando la formación o cambiando el líder del grupo en cualquier momento.

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Fuzzy logic controller for cooperative mobile robotics implemented in leader-follower formation approach

Molina-Villa

Avendaño-Florez

Solaque-Guzmán

et al. 2015

Rev. Fac. Ing. Antioquia

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Decentralized cooperative control technique for non-holonomic mobile formation

Cited by 1 publication

References 7 publications

Fuzzy logic controller for cooperative mobile robotics implemented in leader-follower formation approach

Fuzzy logic controller for cooperative mobile robotics implemented in leader-follower formation approach

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